#ifndef CHASSIS_BEHAVIOUR_H
#define CHASSIS_BEHAVIOUR_H

#include "struct_typedef.h"
#include "chassis_task.h"

typedef enum
{
  CHASSIS_ZERO_FORCE,
  CHASSIS_NO_MOVE,
  CHASSIS_INFANTRY_FOLLOW_GIMBAL_YAW,
  CHASSIS_ENGINEER_FOLLOW_CHASSIS_YAW,
  CHASSIS_NO_FOLLOW_YAW,
  CHASSIS_OPEN
} chassis_behaviour_e;

#define CHASSIS_OPEN_RC_SCALE 10

extern void chassis_behaviour_mode_set(chassis_move_t *chassis_move_mode);
extern void chassis_behaviour_control_set(fp32 *vx_set, fp32 *vy_set, fp32 *angle_set, chassis_move_t *chassis_move_rc_to_vector);

#endif
